Note: Descriptions are shown in the official language in which they were submitted.
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Description
Transcranial Magnetic Stimulation System And Positioning
Assistance Method And Program
Technical Field
[0001]
The present invention relates to a transcranial magnetic
stimulation system and positioning assistance method, and in more
detail relates to technology to assist in position of a mechanical
section which a transcranial magnetic stimulation system contains.
Background Art
[0002]
Conventionally, a transcranial magnetic stimulation system is
known. This system is a system that provides magnetic stimulation
noninvasively to a subject's brain via the skull, for the purpose
of subject pain relief, examination and treatment of depression or
the like, and analysis etc. relating to magnetic stimulation to
the brain (refer, for example, to patent publication 1).
[0003]
Magnetic stimulation involves arranging a magnetic
stimulation coil (hereafter simply referred to as a coil) close to
a stimulation region of a subject's head, causing pulse current to
flow in this coil, and generating induced current in a region that
constitutes the target of stimulation (hereafter referred to as
stimulation region) using a variable magnetic field. Therefore,
in this system there is generally provided a mechanical section
that can support the coil and hold the coil at an arbitrary
position and attitude (orientation). Also, this mechanical
section includes a plurality of mechanisms for adjusting positions
of a plurality of movable members, and position of the coil is
accurately determined by adjusting positions of the movable
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members using these mechanisms.
[0004]
On the other hand, proper position and attitude of the coil
differs depending on the purpose, and for each subject. For
example, in a case where the purpose is pain relief, a stimulation
region is constituted by an anatomical region called a motor area
within the brain corresponding to a pain area. Also, to provide
magnetic stimulation more efficiently to such an anatomical region
it is necessary to determine orientation of magnetic stimulation
taking into consideration shape of the brain, and shape of the
subject's skull including cerebral sulcus etc., but skull and
brain shapes differ significantly between individuals. A system
operator therefore adjusts position and attitude of the coil every
time, in accordance with the purpose of stimulation and the
subject.
Citation List
Patent Literature
[0005]
[Patent publication 1] Japanese patent No. 5453325
SUMMARY OF THE INVENTION
Problems To Be Solved By The Invention
[0006]
However, in the mechanical section of the transcranial
magnetic stimulation system, movement of the movable members
becomes complicated for various reasons. For example, since the
object to which magnetic stimulation is applied is the head of a
person, some of the movable members of the system are often
configured so that the coil moves along a curved line
corresponding to the head surface, moves in a direction that faces
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the center of the head, and rotates with that direction as an
axis. In particular, operation of each movable member in order to
realize movement of the coil so as to move along a curved line
corresponding to the head surface is extremely complicated.
Accordingly there are cases where it is difficult for the system
operator to rapidly adjust the coil to a desired position and
attitude.
[0007]
Because of this type of situation, there is a demand for
technology which can assist with rapid positioning of a mechanical
section of a transcranial magnetic stimulation system.
Means For Solving The Problems
[0008]
The invention of a first aspect is directed to
a transcranial magnetic stimulation system, comprising
a coil section that comes in to contact with or approaches a
head of a subject,
a mechanical section, comprising a plurality of adjustment
mechanisms that adjust position of a plurality of movable members,
that determines position and attitude of the coil section by
adjustment using the plurality of adjustment mechanisms,
receiving means that receives desired change for at least one
of position and attitude of the coil section, and
guidance means that provides guidance of an adjustment
procedure for at least one of the plurality of adjustment
mechanisms so as to realize the desired change that has been
received.
[0009]
The invention of a second aspect is directed to the
transcranial magnetic stimulation system of the first aspect,
wherein
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the receiving means receives input of contact state of the
coil section on the head, as the desired change.
[0010]
The invention of a third aspect is directed to the
transcranial magnetic stimulation system of the second aspect,
wherein
the contact state is a one-side contact state where only a
part, of an outer edge of the coil section, contacts the head.
[0011]
The invention of a fourth aspect is directed to the
transcranial magnetic stimulation system of the third aspect,
wherein
the receiving means has choice of a plurality of types of
one-side contact state having respectively different states of
contact of the outer edge section with the head, and a single one-
side contact state selected by an operator is input as the contact
state.
[0012]
The invention of a fifth aspect is directed to the
transcranial magnetic stimulation system of the second aspect,
where contact state includes an adhered state of the coil section
to the head.
[0013]
The invention of a sixth aspect is directed to the
transcranial magnetic stimulation system of the first aspect,
wherein the receiving means receives a given amount of change for
at least one of position and attitude of the coil section as the
desired change.
[0014]
The invention of a seventh aspect is directed to the
transcranial magnetic stimulation system of the sixth aspect,
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wherein the relative given amount of change is given amount of
movement in a given direction, or rotation through a given angular
amount for a given rotational direction.
[0015]
The invention of an eighth aspect is directed to the
transcranial magnetic stimulation system of the seventh aspect,
wherein the receiving means has choice of a plurality of
respectively different types of change that differ in terms of
combination of the given direction and given movement amount, or
combination of the given rotation direction and angular amount,
and one change is selected by the operator as the desired change.
[0016]
The invention of a ninth aspect is directed to the
transcranial magnetic stimulation system of any one of the first
to eighth aspects, further provided with acquisition means that
acquires position information representing position of the
plurality of movable members at the current time, and wherein the
guidance means performs guidance of the adjustment procedure using
position information that has been acquired by the acquisition
means.
[0017]
The invention of a tenth aspect is directed to the
transcranial magnetic stimulation system of the first aspect,
further provided with acquisition means that acquires position
information representing position of the plurality of movable
members at the current time, and wherein the receiving means
receives at least one of position and attitude, constituting
objectives for the coil section, as the desired change.
[0018]
The invention of an eleventh aspect is directed to the
transcranial magnetic stimulation system of the tenth aspect,
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wherein the guidance means performs guidance of the adjustment
procedure using position information that has been acquired by the
acquisition means.
[0019]
The invention of a twelfth aspect is directed to the
transcranial magnetic stimulation system of the eleventh aspect,
wherein the guidance means determines whether or not position
represented by the position information that has been acquired
coincides with a position that will be guided using the adjustment
procedure or coincides with being within a permissible range.
[0020]
The invention of a thirteenth aspect is directed to the
transcranial magnetic stimulation system of any one of the first
to twelfth aspects, wherein the guidance means shows at least
order in the plurality of adjustment mechanisms and adjustment
direction of the adjustment mechanisms which should be adjusted.
[0021]
The invention of a fourteenth aspect is directed to the
transcranial magnetic stimulation system of any one of the first
to thirteenth aspects, wherein the guidance means displays an
image or a movie that emphasize or indicate the adjustment
mechanisms or the movable members that are to be adjusted at the
current point in time.
[0022]
The invention of a fifteenth aspect is directed to the
transcranial magnetic stimulation system of any one of the first
to fourteenth aspects, wherein the guidance means provides
guidance of the adjustment procedure using sound.
[0023]
The invention of an sixteenth aspect is directed to the
transcranial magnetic stimulation system of any one of the first
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to fifteenth aspects, wherein the mechanical section is controlled
so that the coil section moves along a curved line corresponding
to the surface of the head of a subject, as one movement
direction.
[0024]
The invention of a seventeenth aspect is directed to the
transcranial magnetic stimulation system of any one of the first
to sixteenth aspects, wherein the mechanical section is controlled
so that the coil section moves in a vertical direction of a
subject, as one movement direction.
[0025]
The invention of an eighteenth aspect is directed to the
transcranial magnetic stimulation system of any one of the first
to seventeenth aspects, wherein the mechanical section is
controlled so that the coil section moves along a direction
towards substantially the center of the head of a subject, as one
movement direction.
[0026]
The invention of a nineteenth aspect is directed to a
positioning assistance method for a mechanical section of a
transcranial magnetic stimulation system, wherein
the mechanical section comprises a plurality of adjustment
mechanisms that adjust position of a plurality of movable members,
and determines position and attitude of the coil section by
adjustment using the plurality of adjustment mechanisms, and
wherein a device executes:
a receiving process of receiving desired change for at least
one of position and attitude of the coil section, and
a guidance process of providing guidance of an adjustment
procedure for at least one of the plurality of adjustment
mechanisms so as to achieve the desired change that has been
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received.
[0027]
The invention of a twentieth aspect is directed to a computer
program for a positioning assistance method for a mechanical
section of a transcranial magnetic stimulation system, wherein
the mechanical section comprises a plurality of adjustment
mechanisms that adjust position of a plurality of movable members,
and determines position and attitude of the coil section by
adjustment using the plurality of adjustment mechanisms, and the
computer program causes a computer to execute:
a receiving process of receiving desired change for at least
one of position and attitude of the coil section, and
a guidance process of providing guidance of an adjustment
procedure for at least one of the plurality of adjustment
mechanisms so as to achieve the desired change that has been
received. It should be noted that the computer program may be
provided in a state of being stored in a computer readable storage
medium, or may be provided in a state of being stored on a server
and downloaded from the server.
[0028]
The invention of a twenty-first aspect is directed to the
transcranial magnetic stimulation system of the second aspect,
further provided with detection means that detects contact state
of the coil section with respect to the head, using a sensor
section that includes one or more sensors, and wherein
the receiving means receives input of contact state that has
been detected.
[0029]
The invention of a twenty-second aspect is directed to the
transcranial magnetic stimulation system of the twenty-first
aspect, wherein
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the detection means quantitatively detects the contact state,
and
the guidance means obtains adjustment amount or target
position for the adjustment mechanism based on contact state that
has been quantitatively detected.
[0030]
The invention of a twenty-third aspect is directed to the
transcranial magnetic stimulation system of the twenty-first
aspect or twenty-second aspect, wherein the contact state includes
at least one of a one-side contact state where only part of an
outer edge section of the coil section contacts the head, and an
adhered state where the coil section contacts the head.
[0031]
The invention of a twenty-fourth aspect is directed to the
transcranial magnetic stimulation system of any one of the twenty-
first aspect to twenty-fourth aspect, wherein the sensor section
includes at least one among an imaging sensor, an ultrasonic
sensor, an infrared sensor, a pressure sensor, a mechanical switch
sensor, an electrostatic sensor, and an acceleration sensor.
Effect of the Invention
[0032]
According to the present invention, receiving means receives
desired change for at least one of position and attitude of a coil
section, and guidance means performs guidance of an adjustment
procedure for at least one of a plurality of adjustment mechanisms
that are included in a mechanical section that supports the coil
section. As a result of this, an operator can adjust the coil
section to a desired position and attitude simply by adjusting the
adjustment mechanisms in accordance with the adjustment procedure
that has been given as guidance, and it is possible to rapidly
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perform positioning of a mechanical section.
[0033]
Also, according to the present invention an operator can
master the adjustment technique for positioning the mechanical
section early on by repeatedly receiving guidance of the
adjustment procedure.
Brief Description Of The Drawings
[0034]
Fig. 1 is a drawing schematically showing the structure of a
transcranial magnetic stimulation system of a first embodiment.
Fig. 2 is a drawing schematically showing the structure of a
positioning mechanical section.
Fig. 3 is a drawing showing the structure of a physique adjustment
mechanism and headgear.
Fig. 4 is a drawing showing adjustment direction of a coil section
of headgear.
Fig. 5 is a drawing showing the structure of a control unit of the
first embodiment.
Fig. 6 is a functional block diagram of the control unit of the
first embodiment.
Fig. 7 is a drawing showing a one-side contact state for a
parietal region side (upper side), as one example of a one-side
contact state.
Fig. 8 is a flow chart showing flow of processing up to
commencement of treatment, with the transcranial magnetic
stimulation system of this embodiment.
Fig. 9 is a drawing showing flow of processing for performing
guidance of an adjustment procedure.
Fig. 10 is a drawing showing one example of a one-side contact
state selection screen.
Fig. 11 is one example of a flow chart showing an adjustment
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procedure.
Fig. 12 is a drawing showing a positional relationship between a
head and a coil section in a case where a rotational axis of a
roll direction is at a lower position than it should be.
Fig. 13 is a drawing showing a positional relationship between a
head and a coil section in a case where a rotational axis of a
roll direction is at the ideal position.
Fig. 14 is a drawing schematically showing the structure of a
transcranial magnetic stimulation system of a second embodiment.
Fig. 15 is a drawing showing the structure of a control unit of
the second embodiment.
Fig. 16 is a functional block diagram of the control unit of the
second embodiment.
Fig. 17 is a flowchart showing flow of processing in a case where
guidance is performed for an adjustment procedure using position
information of respective adjustment mechanisms.
Fig. 18 is a display example 1 of a case where guidance is
performed for an adjustment procedure in order to fix a parietal
region side one-side contact state of the coil.
Fig. 19 is a display example 2 of a case where guidance is
performed for an adjustment procedure in order to fix a parietal
region side one-side contact state of the coil.
Fig. 20 is a display example 3 of a case where guidance is
performed for an adjustment procedure in order to fix a parietal
region side one-side contact state of the coil.
Fig. 21 is a display example 4 of a case where guidance is
performed for an adjustment procedure in order to fix a parietal
region side one-side contact state of the coil.
Fig. 22 is a flow chart showing flow of processing in a case where
guidance is performed for an adjustment procedure in order to
change the coil section to a target position and attitude.
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Fig. 23 is a drawing schematically showing the structure of a
transcranial magnetic stimulation system of a fourth embodiment.
Fig. 24 is a functional block diagram of the control unit of the
fourth embodiment.
Description of the Embodiments
[0035]
Detailed description will now be given of embodiments of the
present invention. It should be noted that the present invention
is not limited to the embodiments described in the following.
Also, in the embodiments below, elements having the same,
equivalent, or common functions will be shown with the same
reference numbers assigned.
[0036]
(First Embodiment)
A transcranial magnetic stimulation system of a first
embodiment has a structure that is suitable for magnetic
stimulation treatment, with the objective of pain relief for a
subject, performs accurate positioning of a coil section, and is
provided with a mechanical section that replicate that
positioning.
[0037]
Also, the transcranial magnetic stimulation system of the
first embodiment is configured so that if a desired change for
position and attitude of the coil section is input, guidance is
performed for an adjustment procedure so as to achieve that change
for assisting with rapid positioning of the mechanical section.
[0038]
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The structure of the transcranial magnetic stimulation system
of the first embodiment will be described.
[0039]
Fig. 1 is a drawing schematically showing the structure of a
transcranial magnetic stimulation system 1 of a first embodiment.
[0040]
As shown in Fig. 1, the transcranial magnetic stimulation
system 1 comprises a magnetic stimulation circuit section 10, a
positioning mechanical section 30, a position information display
section 40, and a control unit 50.
[0041]
The magnetic stimulation circuit section 10 is configured so
as to apply stimulation due to induced current forming a variable
magnetic field (in the following specification this will be
referred to simply as "magnetic stimulation") to the brain of a
subject. The magnetic stimulation circuit section 10 comprises a
coil section 11, and a coil drive section 12 that is connected to
the coil section 11. The coil section 11 has a head contacting
surface, and this surface is arranged so as to be close to or in
contact with a portion, where is it desired to apply magnetic
stimulation, on the head (brain) of a subject. The coil section
11 forms a magnetic field if electrical current flows. The coil
drive section 12 causes a pulse shaped electrical current to flow
in the coil section 11 to form a variable magnetic field
momentarily at a location where there is a given positional
relationship with the coil section 11. An induced current due to
this variable magnetic field constitutes magnetic stimulation to
the brain of a subject.
[0042]
The positioning mechanical section 30 is a mechanical section
for adjusting positional relationships between the brain of the
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subject and respective parts within the system (particularly the
coil section 11), when applying magnetic stimulation to the
subject, as required. It should be noted that while, in Fig. 1,
the coil section 11 and the position information display section
40 are included within the block representing the positioning
mechanical section 30, this is because Fig. 1 is for showing an
example where the coil section 11 and the position information
display section 40 are physically close to the positioning
mechanical section 30, and is not for defining an inclusion
relation between these elements.
[0043]
The structure of the positioning mechanical section 30 is
schematically shown in Fig. 2.
[0044]
As shown in Fig. 2, the positioning mechanical section 30
comprises a chair 31, a physique adjustment mechanism 32, and
headgear 33.
[0045]
The chair 31 has a seat surface and a back, and is configured
so that it is possible keep the entire body of a subject in a
seated attitude.
[0046]
The structure of the physique adjustment mechanism 32 and the
headgear 33 is shown in Fig. 3.
[0047]
The physique adjustment mechanism 32 is configured so that it
is possible to support the occipital region of a subject who is
seated on the chair 31, in accordance with physique of the
subject.
[0048]
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As shown in Fig. 3, the physique adjustment mechanism 32
comprises an occipital region rest 321, a forward and backward
direction adjustment mechanism 322, a vertical direction
adjustment mechanism 323, a physique adjustment guide 324, and a
height adjustment mechanism 325.
[0049]
The occipital region rest 321 is configured so that it is
possible to support the subject's occipital region, and has a
concave curved surface that receives the occipital region. The
occipital region rest 321 is supported by the forward and backward
direction adjustment mechanism 322 and the vertical direction
adjustment mechanism 323. The forward and backward direction
adjustment mechanism 322 can adjust position of the occipital
region rest 321 in the forward and backward direction of the
subject. The vertical direction adjustment mechanism 323 can
adjust the position of the occipital region rest 321 in the
vertical direction of the subject who is seated on the chair 31
(direction of the back of the chair 31). The forward and backward
direction adjustment mechanism 322 and the vertical direction
adjustment mechanism 323 are supported by the physique adjustment
guide 324.
[0050]
The physique adjustment guide 324 is supported by the height
adjustment mechanism 325. The height adjustment mechanism 325 can
adjust the height of the physique adjustment guide 324 in the
vertical direction of a subject who is seated on the chair 31.
[0051]
The headgear 33 supports the coil section 11, and is
configured so that it is possible to adjust position and attitude
of the coil section 11.
[0052]
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As shown in Fig. 3, the headgear 33 comprises a pushing
direction adjustment mechanism 331, a yaw direction adjustment
mechanism 332, a pitch direction adjustment mechanism 333, a roll
direction adjustment mechanism 334, a headgear guide 335 and a
attaching/detaching mechanism 336.
[0053]
Adjustment directions of the coil section 11 in the headgear
33 are shown in Fig. 4. With this example, as shown in Fig. 4,
there are four adjustment directions of the coil section 11,
namely the pushing direction F, yaw direction Y, pitch direction
P, and roll direction R. The pushing direction F is a direction
in which the coil section 11 is pushed against the head of the
subject 90, namely direction J towards substantially the center of
the head of the subject 90. The yaw direction Y is a rotation
direction with a direction towards substantially the center of the
head of the subject 90 as an axis. The pitch direction P is a
curving direction in accordance with the surface of the head of
the subject 90 in the forward and backward direction. The roll
direction R is a curving direction in accordance with the surface
of the head of the subject 90 in the lateral direction. It should
be noted that a curving direction in accordance with the surface
of the head is a curving direction, in searching for an optimum
stimulation position, such that it is possible to cause the
position of the coil section 11 to move smoothly along the surface
of the head. For example, the curving direction is a direction of
curving having a curvature that approximates to the curvature of
the surface of a head model having an average head size and shape
for an adult, or a curvature that is slightly smaller (gentler)
than that.
[0054]
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As shown in Fig. 3, the coil section 11 is supported by the
pushing direction adjustment mechanism 331. The pushing direction
adjustment mechanism 331 can adjust position of the coil section
11 in the pushing direction F. The pushing direction adjustment
mechanism 331 is supported by the yaw direction adjustment
mechanism 332. The yaw direction adjustment mechanism 332 can
adjust rotation position of the pushing direction adjustment
mechanism 331 in the yaw direction Y. The yaw direction
adjustment mechanism 332 is supported by the pitch direction
adjustment mechanism 333. The pitch direction adjustment
mechanism 333 can adjust position of the yaw direction adjustment
mechanism 332 in the pitch direction P. The pitch direction
adjustment mechanism 333 is supported by the roll direction
adjustment mechanism 334. The roll direction adjustment mechanism
334 can adjust inclination angle of the pitch direction adjustment
mechanism 333 in the roll direction R. The roll direction
adjustment mechanism 334 is supported by the headgear guide 335.
The headgear guide 335 is supported by the attaching/detaching
mechanism 336. The attaching/detaching mechanism 336 can cause
the headgear guide 335 to slide in a detachable direction, with
respect to the physique adjustment guide 321, in the vertical
direction of the subject 90 seated on the chair 31.
[0055]
As shown in Fig. 3, the position information display section
40 displays position information of movable members of each of the
adjustment mechanisms constituting the positioning mechanical
section 30. The position information display section 40 has a
plurality of position display sections 41. Position display
sections 41 are provided on a one-to-one basis for a single
adjustment mechanism, namely a single movable member. A position
display section 41 displays information representing position of a
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corresponding movable member in a form that can be visually
confirmed. An operator can grasp that position by visually
confirming the position information that this position display
section displays.
[0056]
It is possible to consider digital or analog indicators, for
example, as the position display sections 41. As indicators, it
is possible to consider, for example, a scale, an angle meter or a
position indicator. A position indicator is for displaying
movement amount (feed amount) of a movable member from a reference
position with a counter or liquid crystal screen.
[0057]
A hardware structure example of a control unit of the first
embodiment is shown in Fig. 5.
[0058]
As shown in Fig. 5, the control unit 50 is constituted by a
computer, for example. The control unit 50 has, as main sections,
an operation section 51, a display section 52, a computation
section 53, an interface section 54, and a storage section 55.
[0059]
The operation section 51 receives operations from an operator
to perform various inputs. As the operation section 51 it is
possible to consider, for example, a keyboard or a mouse etc.
[0060]
The display section 52 displays various information on a
screen. As the display section 52 it is possible to consider, for
example, a liquid crystal display or an organic EL display etc.
It should be noted that the operation section 51 and the display
section 52 may be made into a touch panel type display in which
these two sections are integrally constructed. The control unit
50 may also be implemented using a mobile terminal in which such a
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touch panel type display is provided. In this case, since the
operator will be holding the mobile terminal at a given location,
it is possible to perform adjustment of the positioning mechanical
section 30 etc. while performing operation and perusal of the
screen.
[0061]
The computation section 53 is a processor, and is a
semiconductor IC known as an MPU or CPU. The computation section
53 may have cache memory.
[0062]
The interface section 54 performs exchange of various data
between the operation section 51 and the display section 52, and
the computation section 53.
[0063]
The storage section 55 stores various data, and stores
programs etc. for causing execution in the computation section 53.
As the storage section 55 it is possible to consider, for example,
a HDD (Hard Disc Drive) or on SSD (Solid State Device) that uses
flash memory.
[0064]
The control unit 50 functions as a plurality of functional
blocks, by causing the computation section 53 to read out and
execute given programs that are stored in the storage section 55.
[0065]
A functional block diagram of the control unit of the first
embodiment is shown in Fig. 6.
[0066]
Here, as shown in Fig. 6, as functional blocks the control
unit 50 has a receiving section 501, guidance section 502, and a
coil drive control section 503.
[0067]
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The receiving section 501 receives various input as a result
of operation by the operator. With this example, the receiving
section 501 receives input such as magnetic stimulation
conditions, magnetic stimulation commencement instruction,
treatment commencement instruction etc. The magnetic stimulation
conditions include magnetic stimulation strength and a generation
pattern for magnetic stimulation at the time of performing
treatment etc.
[0068]
Also, with this example, the receiving section 501 receives
input of desired change in at least one of position and attitude
of the coil section 11. This change input is performed by the
operator selecting one from among a plurality of types of change
previously registered.
[0069]
The above-mentioned "change" includes change for improving or
resolving a given contact state of the coil section 11 with the
subject's head.
[0070]
With this example, "change" is change for resolving a one-
side contact state of the coil section 11. The one-side contact
state is a state such that only a part of an outer edge section of
a head contact surface of the coil section 11 contacts the head
surface, because the head contact surface of the coil section 11
is inclined with respect to the head surface of the subject.
[0071]
Also, with this example "a plurality of types of change" is
change, for each of a plurality of types of one-side contact
state, for resolving that one-side contact state. A plurality of
types of one-side contact state are classified in accordance with
what part of the outer edge section of the head contact surface of
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the coil section 11 is in contact with the subject's head. With
this example, as locations where contact the coil section 11
contacts the subject's head, six types are considered, namely at
the parietal region (upper), at the temporal region (lower), at
the forehead (front), at the occipital region (rear), between the
temporal region and the forehead (inclined downward to the front),
and between the parietal region and the occipital region (inclined
upward to the rear). It should be noted that these types of
location for contact are one example, and the present invention is
not limited to these.
[0072]
A one-side contact state for a parietal region (upper side),
as one example of a one-side contact state, is shown in Fig. 7.
In the case of pain relief treatment, there is a stimulation
region at a motor area that exists close to a central part of the
brain in a forward and backward direction. As a one-side contact
state for the parietal region, it is conceivable that, as shown in
Fig. 7, a parietal region side (upper side) U of the outer edge
section of the head contact surface of the coil section 11 will
often contact a region between the parietal region and the
temporal region of the subject 90.
[0073]
If a desired change amount for at least one of position and
attitude of the coil section 11 is received by the receiving
section 501, the guidance section 502 provides guidance for an
adjustment procedure so as to achieve that change. As shown in
Fig. 6, the guidance section 502 has an adjustment procedure
storage section 502A that stores a plurality of types of
adjustment procedure information. "a plurality of types of
adjustment procedure information" are respectively associated with
each of a "plurality of types of change". The guidance section
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502 reads out adjustment procedure information corresponding to
desired change that has been input, from the adjustment procedure
storage section 502A, and performs visual or aural guidance for
the adjustment procedure represented by that adjustment procedure
information. In the case of providing visual guidance of the
adjustment procedure, drawings and tables showing the adjustment
procedure may be simply displayed on the display section 52, as
hardware, or navigation that makes the procedure easy to
understand may be performed using a movie. Alternatively, a light
emitting part may be provided in each adjustment mechanism, and
control performed so that light emitting parts of adjustment
mechanisms that are required in adjustment are sequentially lit
up.
[0074]
It should be noted that specified computation may be
performed based on desired change that has been input, and the
guidance section 502 may obtain and perform guidance for an
adjustment procedure so as to achieve the desired change based on
the result of that computation.
[0075]
The coil drive control section 503 controls the coil drive
section 12 in response to various commands that have been received
by the receiving section 501. With this example, the coil drive
control section 503 controls the coil drive section 12 to apply
one-shot magnetic stimulation to the subject 90 in accordance with
magnetic stimulation conditions that have been set, in response to
a one-shot magnetic stimulation command. The coil drive control
section 503 may also control the coil drive section 12 to apply a
plurality of bursts of magnetic stimulation in a specified pattern
to the subject 90 in accordance with magnetic stimulation
conditions that have been set, in response to a treatment
22
CA 03020256 2018-10-05
commencement instruction.
[0076]
It should be noted that the receiving section 501 and the
guidance section 502 of this embodiment are respectively one
example of receiving means and guidance means of the present
invention.
[0077]
Processing flow for the transcranial magnetic stimulation
system 1 of this embodiment will now be described.
[0078]
Fig. 8 is a flow chart showing flow of processing up to
commencement of treatment, with the transcranial magnetic
stimulation system 1 of this embodiment.
[0079]
In step S101, physique adjustment is performed. Specifically,
the operator first has the subject 90 sit on the chair 31. At
this time, if the headgear 33 is connected to the physique
adjustment guide 324, the attaching/detaching mechanism 336 is
operated and the headgear 33 is raised upwards. Next, the
operator adjusts the height of the physique adjustment guide 324
to conform to the physique of the subject 90, using the height
adjustment mechanism 325. The operator also adjusts position of
the occipital region rest 321 forward and backward, and up and
down, so as to line up with the occipital region of the subject
90, using the forward and backward direction adjustment mechanism
322 and the vertical direction adjustment mechanism 323.
[0080]
In step S102, connection of the headgear 33 is performed.
Specifically, the operator operates the attaching/detaching
mechanism 336 to lower the headgear guide 335 downwards, and
23
CA 03020256 2018-10-05
connect to the physique adjustment guide 321.
[0081]
In step S103, provisional setting of coil position is
performed. Specifically, the operator provisionally sets position
of the coil section 11 by adjusting each adjustment mechanism of
the headgear 33. A position that is provisionally set is a
position corresponding to a stimulation region that has been
designated according to pain area with reference to a medical
image of the head of the subject 90. It should be noted that, in
this provisional setting of coil position, adjustment of each
adjustment mechanism as mentioned above may be unsuccessful, and
further a situation arises whereby an efficient adjustment
procedure is difficult to comprehend. Dealing with this case will
be described later.
[0082]
In step S104, search for optimum stimulation position is
performed. Specifically, the operator performs input operations
with the receiving section 501 (operation section 51 in the
hardware), and sets the magnetic stimulation strength
comparatively strong. Then, while adjusting each adjustment
mechanism of the head gear 33 to vary position of the coil section
11 a little bit at a time in the vicinity of the provisionally set
position, a magnetic stimulation commencement instruction is input
each time in the receiving section 501. The coil drive control
section 503 successively responds to the magnetic stimulation
commencement instructions to generate magnetic stimulation. The
operator looks at a twitch response of the subject 90 each time
magnetic stimulation is generated. A position at which the
strongest twitch response appears is then set as the optimum
stimulation position.
[0083]
24
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In step S105, treatment is commenced. Specifically, the
operator performs an input operation with the receiving section
501 (operation section 51), and returns magnetic stimulation
strength to the optimum strength for treatment. A treatment
commencement instruction is then input at the receiving section
501. The coil drive control section 503 controls the coil drive
section 12, and magnetic stimulation for treatment in accordance
with magnetic stimulation conditions that have been set is
commenced.
[0084]
Here, the provisional setting of coil position in step S103
will be described for handling a case where adjustment has been
unsuccessful.
[0085]
With provisional setting of coil position, attitude of the
coil section 11 is often adjusted so as to adhere a head contact
surface of the coil section 11 to the subject's head, so as to
convey magnetic stimulation from the coil section 11 to the
stimulation region efficiently over the shortest distance. Also,
while strength of a variable magnetic field from the coil section
11 (that is, strength of induced current) is also dependent on
coil shape, it is generally known to have directivity, and
direction of the magnetic stimulation is accurately controlled by
adhering the coil section 11 to the subject's head.
[0086]
However, in actual fact there are cases where provisional
setting of coil position is not successful, and the coil section
11 is in a one-side contact state with the subject's head. This
can be considered to be due to the fact that it is difficult to
intuitively grasp movement of the coil section 11 because a
positional relationship between the coil section 11 and the head
CA 03020256 2011i3-135
surface of the subject is not decided only by adjustment of each
adjustment mechanism of the head gear 33 and because adjustment
direction of each adjustment mechanism is not simple due to
various circumstances and restrictions etc. In particular, if a
curving direction corresponding to the head surface of the subject
is included in one adjustment direction, degree of difficulty of
adjustment is increased. There are efficient adjustment
procedures for fixing the one-side contact state of a coil that
are almost constant according to a one-side contact state pattern,
but generally it is not that easy for the operator to manually
attain this adjustment procedure instantly. Also, a surface of
the subject's head and a treatment location within the brain are
generally apart to a certain extent. If the direction of magnetic
stimulation deviates from the correct direction because the coil
section 11 is not adhered to the subject's head (for example, a
one-side contact state arises), then it is also possible to
consider that a desired electrical current stimulation will not be
generated at the treatment location due to being apart, as
described previously. Accordingly, in order to increase treatment
efficiency it is desirable to fix this type of one-side contact
state, and accurately set a positional relationship between the
coil section 11 and the subject's head.
[0087]
Therefore, if this type of one-side contact state of the coil
arises, the operator utilizes the function of providing guidance
for the adjustment procedure in order to fix this one-side contact
state, by operating the receiving section 501 (operation section
51) of the control unit 50.
[0088]
Flow of processing for providing guidance of the adjustment
procedure is shown in Fig. 9. Also, one example of a one-side
26
CA 03020256 2018-10-05
contact state selection screen is shown in Fig. 10.
[0089]
First, on a one-side contact state selection screen such as
shown in Fig. 10 that is displayed on the receiving section 501
(display section 52), the operator selects a one-side contact
state at the current time, from among a plurality of alternatives,
by operating the receiving section 501 (operation section 51)
(step T101). In this way, the receiving section 501 receives a
one-side contact state that has been selected, as "input of one-
side contact state it is desired to fix" (step T102). Once this
is done, the guidance section 502 reads out adjustment procedure
information corresponding to the one-side contact state that has
been selected, from the adjustment procedure storage section 502A
(step T103). The guidance section 502 then performs aural or
visual guidance of the adjustment procedure represented by that
adjustment procedure information (step T104).
[0090]
The guidance section 502 displays the adjustment procedure,
for example, using the display section 52, as hardware. As
adjustment procedure display, it is possible to consider
displaying a flow chart that shows which movable members of which
adjustment mechanism are adjusted, and in what order and in which
direction they are adjusted. It should be noted, regarding
adjustment procedure guidance, that by how much adjustment is
performed may be guided in a case where guidance is possible, or
may be left to the operator's discretion.
[0091]
One example of a flowchart for display using the guidance
section 502 in order to show an adjustment procedure is shown in
Fig. 11. The flowchart shown in Fig. 11 is for showing an
adjustment procedure in order to fix a one-side contact state at
27
CA 03020256 2018-10-05
the "parietal region". It should be noted that in Fig. 11
"appropriate amount" means an amount considered appropriate by the
operator. Instead of "appropriate amount", a specific movement
amount for a movable member of an adjustment mechanism may use a
scale numerical value. This adjustment procedure is as follows.
[0092]
First, in step 1 adjustment is performed to move the coil
section 11 upward (in a direction away from the head) using the
pushing direction adjustment mechanism 331. This is so as to move
the coil section 11 away from the head, so that the coil section
11 will fail to contact the head even if it is moved.
[0093]
Next, in step 2 adjustment to move the height of the physique
adjustment guide 324 upward is performed using the height
adjustment mechanism 325. A case where the parietal region side
of the coil section 11 gets in a one-side contact state is caused
by position of a rotational axis for the roll direction R, of the
coil section 11, being at a position that is lower than a proper
position that fits the size or shape of the head of the subject
90, as shown in Fig. 12. A locus of rotation of the coil section
11 in this case moves further apart from the head surface toward
the temporal region side, which means that even if position in the
pushing direction F is adjusted in this state there will be one-
side contact. Therefore, here, as shown in Fig. 13, the physique
adjustment guide 324 is moved upwards so as to raise the position
of the coil section 11 on the rotational axis for roll direction R
and returned to the correct position. A locus of rotation of the
coil section 11 in this case is substantially parallel to the head
surface, and so one-side contact does not arise even if position
is adjusted in the pushing direction F in this state.
[0094]
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CA 03020256 2018-10-05
Next, in step 3 vertical direction adjustment is performed so
that the occipital region rest 321 lines up with the occipital
region of the subject 90 without any feeling of discomfort, using
the vertical direction adjustment mechanism 323. This is because
it is necessary to perform adjustment of the occipital region rest
321 again because height of the occipital region rest 321 has also
been changed as a result of changing the height of the physique
adjustment guide 324 in step 2.
[0095]
First, in step 4 adjustment is performed to move the coil
section 11 downward (in a direction approaching the head) using
the pushing direction adjustment mechanism 331. This is to return
to the original height because the coil section 11 was separated
from the subject's head in step 1.
[0096]
Table 1
One side contact location
Adjustment parietal region temporal region occipital
region
# mechanism
location Movement Movement
Movement
step direction step direction step direction
amount amount
amount
Occipital
rest forward
1 and backward - 2 forward
2.6
direction
Body type 322
--- adjustment Occipital r
mechanism rest
2 32 vertical 3 down 2.0 3 up 8.0
direction
323
3 height 325 2 up 2.1 2 , down 8.2
Pressing 1 up 10.0 1 up 10.0 1 up
10.0
4 direction
325 4 down 8.5 5 down 4.3 4 down
9.5
yaw
direction -
Headgear 332
33 Pitch
6 direction - 3 forward
4.0
333
roll
7 direction - 4 left 1.9
334
[ 0 097
29
CA 03020256 2018-10-05
One example of results of having adjusted one-side contact at
the parietal region that has been shown up to now, and results of
having adjusted one-side contact at other locations (here the
temporal region and the occipital region), are shown in table 1.
It should be noted that "step" within the table means operational
procedure. Accordingly, the fact that there is completion at step
4 means that adjustment is completed with four procedures. Also,
"movement amount" within the table is represented by unit quantity
of movement amount in this system, with yaw direction 332, pitch
direction 333, and roll direction 334 being curved movement
amounts (units: ) along each adjustment mechanism, and the others
being linear movement amounts (units: mm)
[0098]
In this way it is possible for the operator to fix the one-
side contact state of the coil by simply performing adjustments in
accordance with an adjustment procedure that has been displayed.
[0099]
According to the first embodiment above, the receiving
section 501 receives desired change with regard to position and
attitude of the coil section 11, and the guidance section 502
provides guidance for an adjustment procedure so as to achieve
that change, which means that the operator can achieve a desired
change in position and attitude of the coil section 11 simply by
performing adjustments in accordance with the adjustment procedure
for which guidance has been provided, and the operator can rapidly
perform positioning of the positioning mechanical section 30.
[0100]
In particular, with the first embodiment, a plurality of
types of adjustment mechanism include adjustment mechanisms for
moving movable members along a curve direction corresponding to
the surface of a subject's head. With this embodiment, with the
CA 03020256 2018-10-05
adjustment mechanisms in their entirety (namely with the
positioning mechanical section 30), it is possible to adjust
position and attitude of the coil section 11 with at least four
degrees of freedom, namely for yaw, pitch, roll, and translation
(pushing direction). Regarding position of the coil section 11 in
this case, an adjustment procedure that involves not only movement
along a coordinate axis of an orthogonal system, which is normal
and familiar, but that is also for performing movement in a
desired direction and change in orientation to a desired rotation
direction, is difficult to imagine intuitively. Therefore, with
this first embodiment, the contribution to speeding up adjustment
as a result of having guidance for the adjustment procedure is
significant.
[0101]
Also, according to the first embodiment, an operator can
ascertain the structure of the positioning mechanical section 30
early on by repeatedly receiving guidance of adjustment
procedures. Further, it is possible to learn adjustment
techniques for positioning the positioning mechanical section 30
early on.
[0102]
(Second Embodiment)
A transcranial magnetic stimulation system of the second
embodiment is configured to convert position information of
movable members of each adjustment mechanism of a positioning
mechanical section to signals and transmit the signals to a
control unit, and to perform guidance of an adjustment procedure
for the positioning mechanical section using the position
information.
[0103]
31
CA 03020256 2011i3-135
The structure of the transcranial magnetic stimulation system
of the second embodiment will be described.
[0104]
Fig. 14 is a drawing schematically showing the structure of a
transcranial magnetic stimulation system 2 of the second
embodiment.
[0105]
As shown in Fig. 14, the transcranial magnetic stimulation
system 2 comprises a magnetic stimulation circuit section 10, a
positioning mechanical section 30, a position information display
section 40, a position information output section 60, and a
control unit 50.
[0106]
The magnetic stimulation circuit section 10, positioning
mechanical section 30, and position information display section 40
have the same structure as for the first embodiment. Description
of the structure of these sections is therefore omitted here.
[0107]
The position information output section 60 outputs position
information of movable members of each adjustment mechanism of the
positioning mechanical section 30 as signals. The position
information output section 60 is connected to the control unit 50,
and the signals are transmitted to the control unit 50.
Connection between the position information output section 60 and
the control unit 50 may be wired or wireless.
[0108]
The position information output section 60 has a plurality of
position detection sections 61. Position detection sections 61
are provided on the basis of at least one for one adjustment
mechanism. A position detection section 61 detects position of a
movable member of a corresponding adjustment mechanism and outputs
32
CA 03020256 2011i3-135
information representing that position as a signal using light or
electricity etc.
[0109]
As a position detection section 61, it is possible to
consider, for example, an inclination sensor, rotary encoder, wire
type encoder, optical or magnetic linear encoder, or a position
indicator having an output port, etc.
[0110]
A hardware structure example of a control unit of the second
embodiment is shown in Fig. 15.
[0111]
As shown in Fig. 15, similarly to the first embodiment, the
control unit 50 has, as main sections, an operation section 51, a
display section 52, a computation section 53, an interface section
54, and a storage section 55.
[0112]
The interface section 54 receives signals that have been
transmitted from the position information output section 60, and
sends these signals to the computation section 53.
[0113]
The computation section 53 processes position information
that has been sent from the interface section 54. Each hardware
element of the devices of the second embodiment can be constructed
in the same way as the previously described first embodiment apart
from the above described points.
[0114]
A functional block diagram of the control unit of the second
embodiment is shown in Fig. 16.
[0115]
Here, as shown in Fig. 16, as functional blocks the control
unit 50 has a receiving section 501, guidance section 502, coil
33
CA 03020256 2013-135
drive control section 503 and an acquisition section 504.
[0116]
The receiving section 501 receives input such as magnetic
stimulation conditions, magnetic stimulation commencement
instruction, treatment commencement instruction etc. as a result
of operation by the operator. Also, as a result of the operator
selecting one from among a plurality of alternatives that
represent one-side contact states of the coil section 11, the
receiving section 501 receives input of that one-side contact
state.
[0117]
The acquisition section 504 acquires position information of
movable members of each adjustment mechanism that has been sent
from the position information output section 60 by means of
signals, as current position information. Acquisition of the
current position information is repeatedly performed in
comparatively short cycles, and successively updated.
[0118]
If a one-side contact state of the coil section 11 is input,
the guidance section 502 performs guidance for an adjustment
procedure for resolving that one-side contact state using position
information of movable members for each adjustment mechanism that
has been acquired by the acquisition section 504. Specifically,
together with displaying the adjustment procedure, current
position of the movable members of each adjustment mechanism is
recognized, adjustment progress is monitored, and appropriate
guidance is performed at each point in time.
[0119]
It should be noted that the receiving section 501, guidance
section 502 and acquisition section 504 of this embodiment are
respectively one example of receiving means, guidance means and
34
CA 03020256 2011i3-135
acquisition means of the present invention.
[0120]
In the following, description will be given of processing
flow in a case where guidance is provided for an adjustment
procedure for provisional setting of coil position, using position
information of each adjustment mechanism.
[0121]
Fig. 17 is a flowchart showing flow of processing in a case
where guidance is performed for an adjustment procedure using
position information of each adjustment mechanism.
[0122]
In step T201 a one-side contact state is selected.
Specifically, the operator selects a current one-side contact
state from among a plurality of alternatives.
[0123]
In step T202, input of one-side contact state is received.
Specifically, the receiving section 501 receives input of the one-
side contact state that has been selected.
[0124]
In step T203 adjustment procedure information is read out.
Specifically, the guidance section 502 reads out adjustment
procedure information representing an adjustment procedure for
resolving the one-side contact state that was selected from the
adjustment procedure storage section 502A.
[0125]
In step T204 the adjustment procedure and a conceptual
diagram of the mechanical section are displayed. Specifically, the
guidance section 502 displays a flowchart showing the adjustment
procedure based on the adjustment procedure information that has
been read out. For example, which adjustment mechanisms are
adjusted, and the order and direction in which they are adjusted,
CA 03020256 2018-10-05
are divided into respective adjustment steps for each adjustment
mechanism, and displayed. The guidance section 502 also displays
a conceptual diagram in which each adjustment mechanism of the
positioning mechanical section 30 has been modeled.
[0126]
In step T205, guidance is provided for an adjustment step at
the current point in time. Specifically guidance section 502
displays an adjustment step for an adjustment mechanism that is
the subject of adjustment at the current point in time, emphasized
within the flowchart that shows the adjustment procedure, as shown
in Fig. 18. It should be noted that in the flowchart of Fig. 18,
numerical values for target position and current position
represent values of a scale that corresponds to position of
movable members of the adjustment mechanism. "appropriate amount"
means an amount that the operator considers to be appropriate.
[0127]
Also, the guidance section 502 displays the adjustment
mechanism that is the subject of adjustment at the current point
in time highlighted within the conceptual diagram of the
positioning mechanical section 30, as well as displaying a
direction for adjustment with arrows, as shown in Fig. 19. A
linear indicator representing position of the movable member of
the adjustment mechanism that is currently being adjusted is
displayed, and marks showing target position and current position
on the indicator are respectively displayed. Further, the
guidance section 502 provides guidance for the adjustment
mechanism that is the subject of adjustment at the current point
in time, and adjustment direction, using voice. For example,
guidance such as "please adjust adjustment mechanism number )a in
the ?? direction" may be issued.
[0128]
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CA 03020256 2018-10-05
It should be noted that current position of the movable
member of the adjustment mechanism is derived from position
information that has been acquired by the acquisition section 504.
Target position is derived by adding an amount to be adjusted, in
a direction to be adjusted, to the current position before
adjustment. The amount to be adjusted may also use an amount that
is determined as a default (for example, a relative movement
amount or target position that were determined beforehand for
resolving one-sided contact), and may be determined based on some
sort of information or conditions etc. (for example, determined
automatically using arithmetic processing at the system side). It
should be noted that highlighting may be realized by, for example,
changing the color of the conceptual diagram of the adjustment
mechanism that is the subject of adjustment, or the adjustment
step, or by using half tone meshing.
[0129]
In step T206, adjustment of an adjustment mechanism is
commenced in accordance with guidance. Specifically, the operator
91 commences adjustment for an adjustment mechanism that is the
subject of adjustment at the current point in time, while looking
at an indicator, so that the current position coincides with the
target position. The guidance section 502 updates display of
marks showing the current position on the indicator substantially
in real time.
[0130]
In step T207, it is determined whether or not the current
position and the target position are aligned. Specifically, the
guidance section 502 determines whether or not the current
position and target position of the adjustment mechanism are
aligned. This alignment also includes not only complete
alignment, but also alignment within a given permissible range.
37
CA 03020256 2013-135
If the two positions are aligned, it is recognized that adjustment
with the adjustment mechanism data that is the subject of
adjustment at the current point in time has been completed, and
processing advances to the next step. If alignment cannot be
determined, it is possible to cause step T207 to be terminated in
the next procedure. That is, when, in adjustment with the
adjustment mechanism, target position cannot be accurately
derived, for example, in cases such as where adjustment is
performed according to physique, and position and shape of the
head without feeling that something is wrong, after completion of
adjustment the operator performs input of "adjustment complete" on
the operation section 51. The guidance section 502 recognizes
adjustment complete as a result of input of this "adjustment
complete". If adjustment complete has been recognized, processing
advances to the next step.
[0131]
In step T208 it is determined whether or not there is an
adjustment step to be performed next (that is, whether or not
there is an adjustment mechanism that will be a subject of
adjustment next). Specifically, the guidance section 502
determines whether or not there is an adjustment mechanism to be
adjusted for the next sequence. If there is such an adjustment
mechanism the adjustment mechanism for the next sequence is set to
the adjustment mechanism that will be the subject of adjustment at
the current point in time and processing returns to T205, while if
there is not such an adjustment mechanism guidance is terminated.
[0132]
A display example of a case where guidance is performed for
an adjustment procedure in order to fix a parietal region one-side
contact state of the coil is shown in Fig. 20 and Fig. 21. This
example is a case where an adjustment step that should be
38
CA 03020256 2018-13-135
performed at the current point in time is the second adjustment
step. In the flowchart representing the adjustment procedure, the
first adjustment step is completed, and the second adjustment step
is highlighted. Also, in the conceptual diagram of the
positioning mechanical section 30 the adjustment mechanism to be
adjusted in the second adjustment step is shown highlighted, and
the adjustment direction for that adjustment mechanism is
displayed using arrows in Fig. 21.
[0133]
According to this second embodiment, it is possible to
successively acquire position information for movable members of
each adjustment mechanism, and more specific adjustment procedure
guidance and guidance in accordance with the progress of
adjustment become possible. Other structures and advantages of
the second embodiment are the same as those of the previously
described first embodiment, and so more detailed description has
been omitted.
[0134]
It should be noted that the position information that has
been required may be transmitted, as required, to a device etc.
that is different to the transcranial magnetic stimulation system
2, in a wired or wireless manner.
[0135]
Also, a guidance section may be provided in a device or the
like that is different to the control unit 50, and the control
unit 50 may perform guidance for an adjustment procedure and
movable member position that have been received from the guidance
section.
[0136]
The device etc. that is mentioned above is a server or a
workstation, for example. The device etc. mentioned above may
39
CA 03020256 2018-10-05
exist remotely from the transcranial magnetic stimulation system,
or may exist in the vicinity.
[0137]
(First Modified Example)
A first modified example of the first and second embodiments
will be described.
[0138]
In provisional setting of the coil position, there may be
cases where it is considered that the operator wishes to improve
an adhered state of the coil section 11 to the subject's head.
[0139]
Therefore, with this example, the receiving section 501
receives change for at least one of position and attitude of the
coil section 11 such that a given (that is, defective) adhered
state is improved, as the "desired change".
[0140]
Also, with this example "a plurality of types of change" is
change, for each of a plurality of types of inappropriate adhered
state, for resolving that adhered state. A plurality of
inappropriate adhered states are classified according to either a
deficient contact state where even if position of the coil section
11 is adjusted in the pushing direction F there is not an
appropriate position within the movement range of the coil section
11, and there is not sufficient adherence between the head contact
surface of the coil section 11 and the subject's head, or an
overly adhered state where the head contact surface of the coil
section 11 is pressed excessively against the subject's head
resulting in a feeling of discomfort for the subject. It should
be noted that the classifications of adhered states are one
example, and the present invention is not limited to these.
[0141]
CA 03020256 2018-10-05
The adjustment procedure storage section 502A stores a
plurality of items of adjustment procedure information
respectively corresponding to a plurality of types of adhered
state that have been registered beforehand.
[0142]
The guidance section 502 reads out adjustment procedure
information corresponding to adhered state that has been input,
from the adjustment procedure storage section 502A, and performs
guidance for the adjustment procedure represented by that
adjustment procedure information.
[0143]
According to this first modified example, the operator can
fix an inappropriate adhered state of the coil by simply
performing adjustment in accordance with an adjustment procedure
for which guidance has been issued.
[0144]
(Second Modified Example)
A second modified example of the first and second embodiments
will be described.
[0145]
In provisional setting of the coil position, there may be
cases where not only is it considered that the operator wishes to
improve contact state and adhered state of the coil section 11
with the subject's head, but where it is considered that the
operator wishes to change current position and attitude relatively
by only a specified amount. This also includes deliberately
bringing about a one-side contact state, according to
circumstances.
[0146]
Therefore, with this example, the receiving section 501 is
input with change of a relative specific amount for at least one
41
CA 03020256 2013-135
of position and attitude of the coil section 11. The receiving
section 501 also receives the relative specific amount of change
as the above described "desired change".
[0147]
With this example, the above-described "relative specific
amount of change" is a specific amount of movement in a specific
direction, rotation by a specific rotational angle amount in a
specific rotational direction, etc.
[0148]
Also, with this example, the 'plurality of types of change"
are where combinations of movement direction and movement amount
of the coil section 11 are respectively different, or where
combinations of rotation direction and rotation angle amount are
respectively different. As alternatives for movement direction
and movement amount, it is possible to make movement direction,
for example, forward, backward, left or right in the horizontal
direction, up or down in the vertical direction, and to make
movement amount 10 mm, 20 mm, or 30 mm. Also, as alternatives for
rotation direction and rotation angle amount, it is possible to
make rotation direction forward, backward, left, or right, and to
make rotation angle amount 100, 20 , or 30 .
[0149]
The adjustment procedure storage section 502A stores
adjustment procedure information in accordance with movement
direction and movement amount that have been registered
beforehand, and adjustment procedure information in accordance
with rotation direction and rotation angle amount that have been
registered beforehand.
[0150]
The guidance section 502 reads out adjustment procedure
information corresponding to movement direction and movement
42
CA 03020256 20110-105
amount, or rotation direction and rotation angle amount, that have
been input, from the adjustment procedure storage section 502A,
and performs guidance for the adjustment procedure represented by
that adjustment procedure information.
[0151]
According to this second modified example, it is possible for
the operator to move the coil section 11 in a desired direction
and by a desired amount, or to rotate the coil section 11 in a
desired rotation direction and by a desired angle amount, by
simply performing adjustment in accordance with an adjustment
procedure for which guidance has been issued.
[0152]
(Third Embodiment)
The transcranial magnetic stimulation system of the third
embodiment has the same structure as the second embodiment, but
the functions of the functional blocks in the control unit are
different.
[0153]
The receiving section 501 is input with at least one of
position and attitude constituting targets for the coil section
11. That is, the receiving section 501 of this embodiment
receives change in position and attitude of the coil section 11
such that the coil section 11 will attain target position and
attitude, as "desired change". Here, the operator inputs desired
position and attitude (orientation) in a coordinate system of the
positioning mechanical section 30, and the receiving section 501
receives this input. It should be noted that input of desired
position and attitude (orientation) for the coordinate system of
the positioning mechanical section 30 are performed as follows,
for example.
[0154]
43
CA 03020256 2013-135
A three dimensional image that represents a virtual space in
which it is possible to arrange the head of the subject 90 and the
coil section 11 in the coordinate system at respectively arbitrary
positions and attitudes, is displayed on the display section 52.
The operator arranges the head and the coil section (or an image
that models position and orientation at which magnetic stimulation
is applied) within the virtual space, in an appropriate positional
relationship for when treatment will actually be performed, on the
basis of information relating to the subject that has been
collected. Desired position and attitude of the coil section 11
are specified in the coordinate system of the positioning
mechanical section 30, based on this positional relationship.
[0155]
It should be noted that the three-dimensional image
representing the head of the subject may be an image that has been
modeled and not an actual image. Also, an image of the coil
section may be an image resulting from having modeled position and
orientation at which magnetic stimulation is applied.
[0156]
The acquisition section 504 acquires position information of
movable members of each adjustment mechanism that has been sent
from the position information output section 60 by means of
signals, as current position information. Acquisition of the
current position information is repeatedly performed in
comparatively short cycles, and successively updated.
[0157]
The guidance section 502 obtains an adjustment procedure by
computation based on current position information that has been
acquired by the acquisition section 504, and target position and
attitude of the coil section 11 that have been received by the
receiving section 501, and provides guidance for this adjustment
44
CA 03020256 2018-13-135
procedure. The adjustment procedure includes information as to
which adjustment mechanism is adjusted, in which order, and to
which position (on a scale).
[0158]
Description will be given in the following of the processing
flow for a case of performing guidance for an adjustment procedure
for changing the coil section 11 to a target position and
attitude.
[0159]
Fig. 22 is a flow chart showing flow of processing in a case
where guidance is performed for an adjustment procedure in order
to change the coil section 11 to a target position and attitude.
[0160]
In step T301 desired position and attitude (orientation) are
input. Specifically the operator inputs targets position and
attitude for the coil section.
[0161]
In step T302, input of the desired position and attitude is
received. Specifically, the receiving section 501 receives that
input of target position and attitude.
[0162]
In step T303, an adjustment procedure is obtained.
Specifically, the guidance section 502 obtains, by computation, an
adjustment procedure for changing the coil section 11 from the
current position and attitude to the target position and attitude
that have been received.
[0163]
In step T304, guidance for the adjustment procedure is
provided. Specifically, the guidance section 502 provides
guidance for the adjustment procedure that was obtained in step
T302. Similarly to the second embodiment, together with
CA 03020256 2011i3-135
displaying the adjustment procedure, current position of movable
members of each adjustment mechanism is recognized, adjustment
progress is monitored, and appropriate guidance is performed at
each point in time.
[0164]
(Fourth Embodiment)
A transcranial magnetic stimulation system of the fourth
embodiment is configured to automatically detect contact state of
the coil section to the subject's head by quantitatively
specifying a positional relationship of the coil section with
respect to the subject's head using a sensor, and perform guidance
of an adjustment procedure for the positioning mechanical section
in order to improve or fix the contact state based on the results
of the automatic detection.
[0165]
It should be noted that the "contact state" mentioned above
includes, for example, the adhered state (deficient contact,
excessive contact etc.) and one-side contact state of the
previously described embodiments.
[0166]
The structure of the transcranial magnetic stimulation system
of the fourth embodiment will be described.
[0167]
Fig. 23 is a drawing schematically showing the structure of a
transcranial magnetic stimulation system 4 of the fourth
embodiment.
[0168]
As shown in Fig. 23, the transcranial magnetic stimulation
system 4 comprises a magnetic stimulation circuit section 10, a
positioning mechanical section 30, a position information display
section 40, a position information output section 60, a sensor
46
CA 03020256 2018-10-05
section 70, and a control unit 50. It should be noted that while,
in Fig. 23, the sensor section 70 is included within the block
representing the positioning mechanical section 30, this is
because Fig. 23 is for showing an example where the sensor section
70 is physically close to the positioning mechanical section 30,
and is not for defining an inclusion relation between these
elements.
[0169]
The magnetic stimulation circuit section 10, positioning
mechanical section 30, position information display section 40,
and position information output section 60 of this embodiment have
the same structure as in the second embodiment. Also, similarly
to the second embodiment, the magnetic stimulation circuit section
comprises a coil section 11 and a coil drive section 12.
[0170]
The sensor section 70 includes one or more sensors arranged
in the coil section 11 itself, or at a position where it is
possible to overlook the coil section 11 and the subject's head,
and outputs signals that reflect a positional relationship of the
coil section 11 with respect to the subject's head. Details of
the sensor section 70 will be described later.
[0171]
Fig. 24 is a functional block diagram of the control unit 50
of the fourth embodiment.
[0172]
As shown in Fig. 24, the control unit 50 of this embodiment
comprises a receiving section 501, guidance section 502, coil
drive control section 503, acquisition section 504, and contact
state detection section 505. It should be noted that the contact
state detection section 505 is one example of detection means of
47
CA 03020256 2018-10-05
the invention of this application.
[0173]
The receiving section 501, guidance section 502, coil drive
control section 503 and acquisition section 504 of this embodiment
have at least the same functions as the second embodiment.
[0174]
The contact state detection section 505 quantitatively
specifies a positional relationship of the coil section 11 with
respect to the subject's head based on signals that have been
output from the sensor section 70, and detects adhered state and
one-side contact state of the coil section 11. Specifically the
contact state detection section 505 detects whether the coil
section 11 is adhered to the subject's head at the proper
pressure, whether one-side contact occurs, and in the case of one-
side contact the extent to which the coil section 11 is offset and
in which direction with respect to the head surface of the
subject, or how inclined the coil section 11 is, etc., is detected
with high resolution based on output signals from the sensor
section 70.
[0175]
The sensor section 70 includes one or more, and one or more
types, of sensor from among, for example, an imaging sensor, an
ultrasonic sensor, an infrared sensor, a pressure sensor, a
mechanical switch sensor, an electrostatic sensor, and an
acceleration sensor etc.
[0176]
For example, the sensor section 70 may be configured with one
or a plurality of imaging sensors fitted close to the head contact
surface of the coil section 11 or at a position where the coil
section 11 and the subject's head can be overlooked. In this
case, the imaging sensors form images of either the subject's
48
CA 03020256 2013-135
head, or both the coil section 11 and the subject's head, and
output image signals that have been acquired. The contact state
detection section 505 executes analysis processing based on the
image signals, and performs image recognition for the subject's
head or both the coil section 11 and the subject's head, and
detects a one-side contact state of the coil section 11 with
respect to the head surface from the results of this detection.
[0177]
Also, for example, the sensor section 70 may be configured
having a plurality of ultrasonic sensors fitted on the head
contact surface of the coil section 11, close to the head contact
surface, or at an outer edge section of the head contact surface
etc. In this case, each ultrasonic sensor respectively outputs
signals corresponding to a distance from the sensor to the
subject's head. The contact state detection section 505 executes
analysis processing based on the signals, recognizes a distance
from a position of each sensor to the head surface of the subject,
and detects one-side contact state of the coil section 11 with
respect to the head surface from the results of this detection.
[0178]
Also, for example, the sensor section 70 may be configured
having a plurality of infra-red sensors fitted on the head contact
surface of the coil section 11, close to the head contact surface,
or at an outer edge section of the head contact surface etc. In
this case, each infrared sensor respectively outputs signals
corresponding to a distance from the sensor to the subject's head.
The contact state detection section 505 executes analysis
processing based on the signals, recognizes a distance from a
position of each sensor to the head surface of the subject, and
detects one-side contact state of the coil section 11 with respect
49
CA 03020256 2013-135
to the head surface from the results of this detection.
[0179]
Also, for example, the sensor section 70 may be configured
having a plurality of pressure sensors fitted on the head contact
surface of the coil section 11, or at an outer edge section of the
head contact surface. In this case, each pressure sensor
respectively outputs a signal corresponding to pressure that has
been applied from the head in making contact with the subject's
head. The contact state detection section 505 executes analysis
processing based on the signals. In this way, for each sensor
position, the contact state detection section 505 recognizes
whether there is contact with the subject's head or, if there is
contact, to what extent contact is adhered, and detects adhered
state and one-side contact state of the coil section 11 with
respect to head surface from the results of this recognition.
[0180]
Also, for example, the sensor section 70 may be configured
having a plurality of mechanical switch sensors fitted on the head
contact surface of the coil section 11, or at an outer edge
section of the head contact surface. In this case, each
mechanical switch sensor is normally held off, but is turned on if
a switch section contacts the subject's head and is pressed by a
specified amount with a given pressure or more, and respectively
outputs a signal representing this on/off state. The contact
state detection section 505 executes analysis processing based on
these signals. In this way, for each sensor position, the contact
state detection section 505 recognizes whether or not there is
contact with the subject's head, and detects one-side contact
state of the coil section 11 with respect to head surface from the
results of this detection. It should be noted that the mechanical
switch sensors can acquire states at a plurality of stages in
CA 03020256 2013-135
response to an amount by which the switch section is pressed in,
and in a case where the mechanical switch sensors are configured
so as to output signals representing the states, it is also
possible to detect adhered state of the coil section 11 with
respect to the head surface.
[0181]
Also, for example, the sensor section 70 may be configured
having a plurality of electrostatic sensors fitted on the head
contact surface of the coil section 11, or at an outer edge
section of the head contact surface. In this case, each
electrostatic sensor respectively outputs signals corresponding to
distance from the sensor to the subject's head, or signals
representing whether or not the sensor is in contact with the
subject's head. The contact state detection section 505 executes
analysis processing based on these signals. In this way, for each
sensor position, the contact state detection section 505
recognizes distance to the subject's head and whether or not there
is contact with the subject's head, and detects one-side contact
state of the coil section 11 with respect to head surface from the
results of this detection.
[0182]
Also, for example, the sensor section 70 may be configured
having an acceleration sensor further fitted to the coil section
11, in addition to the above-described sensors. In this case, the
acceleration sensor outputs signals representing respective
components of gravitational acceleration applied to the sensor, in
the rectangular coordinate system of the coil section 11. The
contact state detection section 505 executes analysis processing
based on these signals. In this way, the contact state detection
section 505 recognizes inclination of the coil section 11, and
detects one-side contact state with respect to the subject's head
51
CA 03020256 2018-13-135
with good precision by supplementing information relating to
position an attitude of the coil section 11 that has been acquired
by other sensors, from the results of this recognition.
[0183]
Also, for example, the sensor section 70 may be configured
with combinations of the above-described sensors.
[0184]
As stated above, if the contact state detection section 505
detects inappropriate adhered state or one-side contact state of
the coil section 11 based on signals from the sensor section 70,
the receiving section 501 receives input of the states, and the
guidance section 502 obtains an adjustment procedure for improving
that adhered state or resolving that one-side contact state, and
issues guidance to the operator.
[0185]
It should be noted, regarding the way in which the adjustment
procedure is obtained at this time, that is, regarding operation
of the receiving section 501, guidance section 502 and contact
state detection section 505 of the control unit 50, that the
following three cases can be considered, for example.
[0186]
With a first case, the contact state detection section 505
inputs data that quantitatively represents contact state of the
coil section 11, that is, adhered state and one-side contact
state, to the receiving section 501. In this case, the guidance
section 502 obtains adjustment direction and adjustment amount
(movement amount), or target position (for example, a target value
for a numerical value displayed by the position information
display section 40) for each adjustment mechanism by mathematical
analysis, using a method such as three dimensional analysis that
takes into consideration the degree of freedom of each adjustment
52
CA 03020256 2018-13-135
mechanism, based on data that has been input to the receiving
section 501. It should be noted that while the guidance section
502 normally obtains adjustment amount or target position by
computation, these may be obtained using a previously prepared
correspondence table.
[0187]
With a second case, the contact state detection section 505
specifies type of adhered state and one-side contact state of the
coil section 11 from data that quantitatively represents contact
state of the coil section 11, that is, adhered state and one-side
contact state, and inputs this to the receiving section 501. In
this case, in accordance with a type of adhered state or one-side
contact state that has been input to the receiving section 501,
the guidance section 502 obtains a corresponding adjustment
procedure using computation or a correspondence table.
[0188]
With a third case, the contact state detection section 505
reports data that quantitatively represents contact state of the
coil section 11, that is, adhered state and one-side contact
state, or type of adhered state or one-side contact state of the
coil section 11 specified from that data, to the operator. The
operator inputs type of adhered state or one-side contact state of
the coil section 11 to the receiving section 501 on the basis of
this information that has been reported. Input of the type of
adhered state or one-side contact state is performed by the
operator selecting one from a plurality of alternatives that have
been prepared beforehand, similarly to the second embodiment, for
example. The guidance section 502 obtains an adjustment procedure
for improving the type of adhered state or one-side contact state
that has been input using computation or a correspondence table.
[0189]
53
CA 03020256 20110-105
It should be noted that the guidance method for the
adjustment procedure by the guidance section 502 can be considered
to be the same method as for the previously described embodiments.
[0190]
According to this fourth embodiment, the contact state
detection section 505 detects contact state of the coil section 11
with respect to the head using the sensor section 70, and the
receiving section 501 receives input of the contact state that has
been detected, since it is then possible to detect contact state
of the coil section 11 with the head, particularly adhered state
and one-side contact state, automatically, and guidance for an
adjustment procedure can be provided on the basis of the results
of this detection. Therefore, the operator can receive guidance
for the adjustment procedure after having specified the contact
state without relying on experience and intuition.
[0191]
Also, in a case where the receiving section 501 automatically
receives input of the contact state that has been detected, it is
possible to receive guidance for an adjustment procedure without
the involvement of an operation by the operator themselves, and it
is possible to reduce the burden on the user due to decisions and
operations.
[0192]
Also, in a case where the contact state detection section 505
quantitatively detects the contact state and the guidance section
502 obtains adjustment amounts or target position for an
adjustment mechanism based on that contact state that has been
quantitatively detected, the operator can expect guidance to be
issued for a higher accuracy adjustment procedure.
[0193]
54
CA 03020256 2018-10-05
While embodiments of the invention have been described above,
embodiments of the present invention are not limited to these and
various changes are possible within a scope that does not depart
from the gist of the present invention.
[0194]
For example, the operation section 51 and the display section
52 may be a mobile terminal that has a touch panel. By doing this
it is possible for the operator to perform adjustment of an
adjustment mechanism while referencing an adjustment procedure
that they have to hand, which is convenient.
[0195]
Also, for example, the transcranial magnetic stimulation
system is not limited to being used with pain relief treatment,
and may also be used in the treatment of depression and research.
[0196]
Also, for example, the "desired change" for the coil section
may be change of at least one of position and attitude of the coil
section.
[0197]
Also, for example, the positioning mechanical section may
have any structure as long as control is performed so as to move
the coil section along a curve that corresponds to the head
surface of a subject, and may be something like a robot arm.
Description Of The Numerals
[0198]
1, 2 transcranial magnetic stimulation system
magnetic stimulation circuit section
11 coil section
12 coil drive section
30 positioning mechanical section
31 chair
CA 03020256 2018-10-05
32 physique adjustment mechanism
321 occipital region rest
322 forward and backward direction adjustment mechanism
323 vertical direction adjustment mechanism
324 physique adjustment guide
325 height adjustment mechanism
33 headgear
331 pushing direction adjustment mechanism
332 yaw direction adjustment mechanism
333 pitch direction adjustment mechanism
334 roll direction adjustment mechanism
335 headgear guide
336 attaching/detaching mechanism
40 position information display section
41 position display section
50 control unit
51 operation section
52 display section
53 computation section
54 interface section
55 storage section
60 position information output section
61 position detection section
70 sensor section
90 subject
501 receiving section
502 guidance section
503 coil drive control section
504 acquisition section
505 contact state detection section
56
